CN110726438B - Paddy field bearing capacity measuring device and measuring method - Google Patents
Paddy field bearing capacity measuring device and measuring method Download PDFInfo
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- CN110726438B CN110726438B CN201911149684.0A CN201911149684A CN110726438B CN 110726438 B CN110726438 B CN 110726438B CN 201911149684 A CN201911149684 A CN 201911149684A CN 110726438 B CN110726438 B CN 110726438B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention discloses a paddy field bearing capacity measuring device and a measuring method, wherein the paddy field bearing capacity measuring device comprises a frame, a crawler chassis arranged at the bottom of the frame, a probe assembly arranged on the frame and a double-acting hydraulic oil cylinder; the crawler chassis comprises a drive axle, a transmission shaft, a power unit, a floor, a crawler, a guiding tension wheel, a loading wheel, a driving wheel, a chassis frame and a power distribution box; the probe assembly comprises a plurality of groups of probe units, the probe units are arranged in an array, each group of probe units comprises a connecting plate, a pressure sensor and a probe, one end of the pressure sensor is connected with the connecting plate through a bolt, the other end of the pressure sensor is connected with one end of the probe through a bolt, the connecting plate is installed on an upper longitudinal beam of the rack, and the other end of the probe penetrates through a guide hole of a lower longitudinal beam of the rack; during measurement, no person participates in work, the data are obtained through simultaneous measurement of the multiple groups of probe units, accurate bearing capacity data in the region are obtained, and the device is simple in structure, simple to operate and convenient to carry.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a paddy field bearing capacity measuring device and a measuring method.
Background
The rice production plays an important role in the food production in China, the paddy field is mainly operated by rotary tillage for a long time, and the fuel consumption of the rotary cultivator is increased and the operation efficiency is reduced if the cultivation depth is too large during operation; if the tilling depth is too small, the agricultural requirements cannot be met, and the effect cannot be achieved. The traditional tilling depth measurement generally adopts a manual measurement method, at present, the electrical parameter obtained by a measuring device through a Hall element during working simulates the variation of the tilling depth value during the tilling depth measurement, but the measurement precision is reduced if the nearby magnetic field is interfered; the distance between the frame and the ground is detected by an ultrasonic sensor to obtain the tilling depth, but the measurement precision is reduced if soil blocks, crop residues and the like exist in the detected soil; the tilling depth can be indirectly obtained by using a method of measuring the horizontal inclination angle of the lifting arm by using an inclination angle sensor, but if the ground flatness is not enough, the angle feedback is influenced, so that the measurement precision is reduced.
In addition, the mud feet in the paddy field have different depths, the existing tractor is mainly used for dry land operation, is difficult to operate in paddy fields in south, has low operation efficiency and is difficult to meet the mechanized requirement of paddy fields; meanwhile, when the impeller works, the problems of single wheel slip and idle running and unreasonable power distribution often occur.
Disclosure of Invention
The invention aims to provide a paddy field bearing capacity measuring device and a paddy field bearing capacity measuring method which can accurately measure the tilling depth of a tractor aiming at the defects of the technology.
In order to achieve the purpose, the paddy field bearing capacity measuring device comprises a frame, a crawler chassis arranged at the bottom of the frame, a probe assembly arranged on the frame and a double-acting hydraulic oil cylinder, wherein the probe assembly is arranged on the frame;
the crawler chassis comprises a drive axle, a transmission shaft, a power unit, a floor, a crawler, a guiding tension wheel, a loading wheel, a driving wheel, a chassis frame and a power distribution box; the floor is welded on the chassis frame, the power distribution box is connected to the side surface of the rear end of the floor through bolts, one end of a drive axle is installed on the power distribution box on one side, the other end of the drive axle is installed on the power distribution box on the other side, the drive axle is installed on the floor of the chassis frame through bolts, one end of a drive shaft is connected with a power output flange of a power unit through bolts, the other end of the drive shaft is connected with a power input flange of the drive axle through bolts, and the power unit is installed on the chassis frame through a vibration reduction block; the guide tensioning wheel is arranged on a tensioning wheel supporting shaft at the front end of the chassis frame, the two loading wheels are arranged on a tensioning wheel supporting shaft in the middle of the chassis frame, the driving wheel is arranged on a driving wheel supporting shaft of the power distribution box, the track is arranged on the guide tensioning wheel, the loading wheels and the driving wheel, and the driving wheel drives the track to transmit;
the probe assembly comprises a plurality of groups of probe units, the probe units are arranged in an array, each group of probe units comprises a connecting plate, a pressure sensor and a probe, one end of the pressure sensor is connected with the connecting plate through a bolt, the other end of the pressure sensor is connected with one end of the probe through a bolt, the connecting plate is installed on an upper longitudinal beam of the rack, and the other end of the probe penetrates through a guide hole of a lower longitudinal beam of the rack;
the ultrasonic sensor is arranged on the rack, and the attitude sensor is arranged on the connecting plate.
Furthermore, a hydraulic rod of the double-acting hydraulic oil cylinder is hinged to a frame beam, and the hydraulic cylinder of the double-acting hydraulic oil cylinder is hinged to the lower part of the floor of the crawler chassis.
Further, still including installing electron acquisition control storehouse on the track chassis, pressure sensor, ultrasonic sensor and attitude sensor all with electron acquisition control storehouse electricity is connected.
Furthermore, a plurality of uniformly distributed guide holes are formed in the lower longitudinal beam of the rack.
The measuring method based on the paddy field bearing capacity measuring device is also provided as follows:
1) setting a measurement task, planning an operation route, and moving a measurement device to a measurement position in a field;
2) after the measuring device is stable, the double-acting hydraulic oil cylinder is controlled to push the measuring rack to drive the probe to go deep into the soil, when the probe contacts a hard bottom layer or the double-acting hydraulic oil cylinder reaches the maximum stroke value, the recording is finished, the electronic acquisition control cabin simultaneously acquires pressure change data of each pressure sensor, distance change data of the ultrasonic sensor and attitude change data of the attitude sensor, after the measurement is finished, the extension rod of the double-acting hydraulic oil cylinder is controlled to contract through the hydraulic reversing valve, the probe is pulled out of the soil, and the probe is completely pulled out;
3) the collected data are processed to obtain a bearing capacity-depth data relation, corresponding parameters are issued according to the site and conditions of the operating paddy field tractor, and the parameters are used for power distribution of the paddy field tractor and the impeller tractor, so that the antiskid effect is improved.
Further, in step 3), firstly, the acquired distance data of the ultrasonic sensor is subjected to prediction processing, and a distance value close to an actual situation is obtained by combining attitude data of the attitude sensor, and the specific process is as follows:
because the adjacent measurement before and after has independence in time, only the distance data of the previous moment is needed to be used for calculating the whole system model, so the state equation and the measurement equation of the system model are as follows:
sk＝Ask-1+wk-1 (1)
in the formula: skIs a predicted value of the system model at time k, sk-1Is the analysis value of the system model at the time k-1, A is the transfer matrix of the system model, wk-1To observe noise;
ck＝Hsk+vk (2)
in the formula: c. CkIs the measured value of the system model at the time k, H is the measurement matrix of the system model, vkTo measure noise, assume wk-1And vkIs Gaussian white noise which does not influence each other and has zero variance and Q and R respectively;
by means of a given initial value, covariance update and state update at the moment k +1 are obtained by adopting a forward parameter recursion method, the method comprises two steps of forecasting and updating, and the forecasting stage is divided into three steps:
(1) and (3) state prediction:
s(k+1|k)＝A·s(k|k) (3)
(2) and (3) covariance prediction:
p(k+1|k)＝A·p(k|k)·AT+Q (4)
(3) and calculating a Kalman filtering gain coefficient K:
K(k+1)＝p(k+1|k)·H(k+1)T·(H·(k+1|k)·HT+R)-1 (5)
the updating stage is divided into two steps:
(1) and (3) covariance updating:
p(k+1|k+1)＝(1-K(k+1)·H)p(k+1|k)-1 (6)
(2) and (3) updating the state:
s(k+1|k+1)＝s(k+1|k)+K(k+1)·(c(k+1)-H·s(k+1|k)) (7)
the distance data after the Kalman filtering algorithm is adopted is more in line with the real situation.
Compared with the prior art, the invention has the following advantages: this send and based on when paddy field bearing capacity measuring device measures unmanned personnel and participate in work, obtain regional accurate bearing capacity data through multiunit probe unit simultaneous measurement, simple structure, easy operation, convenient to carry.
Drawings
FIG. 1 is a schematic structural view of a paddy field bearing capacity measuring device according to the present invention;
FIG. 2 is a schematic view of the track chassis of FIG. 1;
FIG. 3 is a schematic view of the mounting structure of the probe assembly of FIG. 1;
FIG. 4 is a schematic structural diagram of the probe unit in FIG. 3;
FIG. 5 is a control topology of the measuring device of the present invention;
fig. 6 is a schematic view of the power distribution control of the tractor according to the present invention.
Wherein: the device comprises an electronic acquisition control bin 1, a crawler chassis 2, a double-acting hydraulic oil cylinder 3, a probe assembly 4, a frame 5, a drive axle 6, a transmission shaft 7, a power unit 8, a floor 9, a crawler 10, a guide tensioning wheel 11, a loading wheel 12, a driving wheel 13, a chassis frame 14, a power distribution box 15, a cross beam 16, a lower longitudinal beam 17, an ultrasonic sensor 18, an upper longitudinal beam 19, a connecting plate 20, a pressure sensor 21 and a probe 22.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The paddy field bearing capacity measuring device shown in fig. 1 comprises a frame 5, a crawler chassis 2 installed at the bottom of the frame 5, an electronic acquisition control cabin 1 installed on the crawler chassis 2, a probe assembly 4 installed on the frame 5 and a double-acting hydraulic oil cylinder 3.
As shown in fig. 2, the crawler chassis 2 includes a transaxle 6, a propeller shaft 7, a power unit 8, a floor 9, a crawler 10, a guide tension wheel 11, a bogie wheel 12, a driving wheel 13, a chassis frame 14, and a power distribution box 15. Floor 9 welds on chassis frame 14, power distribution box 15 passes through bolted connection in the side of floor 9 rear end, 6 one ends of transaxle are installed on one side power distribution box 15, 6 other ends of transaxle are installed on opposite side power distribution box 15, transaxle 6 passes through the bolted connection and installs on chassis frame 14's floor 9, 7 one ends of transmission shaft are passed through the bolt and are connected with power unit 8's power take off ring flange, 7 other ends of transmission shaft and 6 power input flange dish bolted connection of transaxle, power unit 8 passes through the damping piece and installs on chassis frame 14. In addition, the guiding tension wheel 11 is arranged on a tension wheel supporting shaft at the front end of the chassis frame 14 and plays a role in tensioning and guiding; two loading wheels 12 are arranged on a tension wheel supporting shaft in the middle of a chassis frame 14 to bear the weight of the robot; the driving wheel 13 is arranged on a driving wheel supporting shaft of the power distribution box 15, the crawler 10 is arranged on the guiding tension wheel 11, the loading wheel 12 and the driving wheel 13, the driving wheel 13 drives the crawler 10 to transmit, and simultaneously, the weight of the measuring device is born to a certain extent, the grounding specific pressure of the measuring device is reduced, and the measuring device can be moved, turned, climbed, walked and the like conveniently.
The power of the power unit 8 is stably transmitted to the drive axle 6, the power distribution box 15 is connected to the chassis frame 14 through bolts, the power distribution box 15 has the functions of speed reduction and braking, when the robot needs to turn left, the power distribution box on the left side is controlled to brake, and the power is distributed to the power distribution box on the right side through a differential mechanism in the drive axle 6 and is transmitted to the crawler 10, so that the differential left-turn is realized. When the crawler-type power distribution box rotates rightwards, the right power distribution box is controlled to brake, power is distributed to the left power distribution box through a differential mechanism in the drive axle 6 and is transmitted to the crawler, and differential right rotation is achieved.
As shown in fig. 3 and 4, the probe assembly 4 includes a plurality of groups of probe units, the plurality of groups of probe units are arranged in an array, each group of probe units includes a connecting plate 20, a pressure sensor 21 and a probe 22, one end of the pressure sensor 21 is connected with the connecting plate 20 through a bolt, the other end of the pressure sensor 21 is connected with one end of the probe 22 through a bolt, the connecting plate 20 is installed on an upper longitudinal beam 19 of the rack 5, the other end of the probe 22 passes through a guide hole of a lower longitudinal beam 17 of the rack 5, resistance of the probe 22 in mud entering is detected through the pressure sensor 21 and is transmitted to a signal acquisition box for analysis and record storage, an ultrasonic sensor 18 is installed on the rack. In this embodiment, set up the guiding hole of a plurality of equipartitions on the longeron 17 under 5 of frame, the probe unit of optional installation different quantity realizes the adjustment of probe distribution density, also can adjust the interval between the probe simultaneously, realizes measuring area adjustment.
As shown in fig. 3, the hydraulic rod of the double-acting hydraulic oil cylinder 3 is hinged on a cross beam 16 of the frame 5, and the hydraulic cylinder of the double-acting hydraulic oil cylinder 3 is hinged on the lower part of the floor 9 of the crawler chassis 2. The probe can enter and exit mud. The double-acting hydraulic oil cylinder 3 provides power through a hydraulic pump on the crawler chassis 2, and during measurement, the double-acting hydraulic oil cylinder 3 stretches and retracts to drive the rack 5 to move up and down, so that the probe enters mud and exits mud.
Referring to fig. 5 and 6, the electronic acquisition control bin 1 is welded on the floor 9 of the crawler chassis 2, and the ECU in the electronic acquisition control bin 1 reads the state of the engine in real time, analyzes and controls the working state of the crawler chassis through the Beidou/gyroscope/visual integrated navigation system, and completes navigation actions such as path planning, collision avoidance and the like.
1) Setting a measurement task, planning an operation route, and moving a measurement device to a measurement position in a field;
2) after the measuring device is stable, the double-acting hydraulic oil cylinder 3 is controlled to push the measuring rack 5, the probe 4 is driven to be deep into soil, when the probe is in contact with a hard bottom layer (the pressure change exceeds a threshold value) or the double-acting hydraulic oil cylinder 3 reaches a maximum stroke value, the recording is finished, the electronic acquisition control bin 1 simultaneously acquires pressure change data of each pressure sensor, distance change data of the ultrasonic sensor and attitude change data of the attitude sensor, after the measurement is finished, an extension rod of the double-acting hydraulic oil cylinder 3 is controlled to shrink through a hydraulic reversing valve, the probe is pulled out of the soil, and after the probe is completely pulled;
3) processing the acquired data to obtain a bearing capacity-depth data relation, issuing corresponding parameters according to the site and conditions of the operating paddy field tractor, and distributing power of the paddy field tractor to realize anti-skid effect improvement;
firstly, predicting collected ultrasonic sensor distance data, and combining attitude data of an attitude sensor to obtain a distance value close to an actual situation; because the adjacent measurement before and after has independence in time, only the distance data of the previous moment is needed to be used for calculating the whole system model, so the state equation and the measurement equation of the system model are as follows:
sk＝Ask-1+wk-1 (1)
in the formula: skIs a predicted value of the system model at time k, sk-1Is the analysis value of the system model at the time k-1, A is the transfer matrix of the system model, wk-1To observe noise;
ck＝Hsk+vk (2)
in the formula: c. CkIs the measured value of the system model at the time k, H is the measurement matrix of the system model, vkTo measure noise, assume wk-1And vkIs Gaussian white noise which does not influence each other and has zero variance and Q and R respectively;
by means of a given initial value, covariance update and state update at the moment k +1 are obtained by adopting a forward parameter recursion method, the method comprises two steps of forecasting and updating, and the forecasting stage is divided into three steps:
(1) and (3) state prediction:
s(k+1|k)＝A·s(k|k) (3)
(2) and (3) covariance prediction:
p(k+1|k)＝A·p(k|k)·AT+Q (4)
(3) and calculating a Kalman filtering gain coefficient K:
K(k+1)＝p(k+1|k)·H(k+1)T·(H·(k+1|k)·HT+R)-1 (5)
the updating stage is divided into two steps:
(1) and (3) covariance updating:
p(k+1|k+1)＝(1-K(k+1)·H)p(k+1|k)-1 (6)
(2) and (3) updating the state:
s(k+1|k+1)＝s(k+1|k)+K(k+1)·(c(k+1)-H·s(k+1|k)) (7)
the distance data after the Kalman filtering algorithm is adopted is more in line with the real situation.
4) The cloud server updates a database according to the acquired data, and sends corresponding control parameters (including a control system sensitivity coefficient, a power distribution proportion, a farm tool suspension height, a farm tool input torque and the like) to a tractor power control system by matching different tractor and implement mathematical models (including various performance parameters of the tractor, implement operation parameters and the like) and operation conditions (an operation place, an operation environment and the like) which are pre-established in the database.
5) The paddy field tractor adopts the impeller drive, according to self sensor system, detects tractor walking and operating condition, if the impeller income mud degree of depth passes through both sides ultrasonic sensor and detects. The front axle and the rear axle are drive axles with differentials, and different impellers are controlled to brake by utilizing the obtained bearing capacity-depth curve and related control parameters and combining torque characteristics through a power output distribution algorithm, so that power distribution is realized. Taking the front axle as an example, when the left wheel slips and the driving efficiency is low, the power distribution adopts a directional braking strategy, and the differential mechanism distributes the power to the wheel on the other side to complete the power distribution of the paddy field impeller tractor and realize the antiskid effect improvement.
Claims (4)
1. The utility model provides a paddy field bearing capacity measuring device which characterized in that: the device comprises a rack (5), a crawler chassis (2) arranged at the bottom of the rack (5), a probe assembly (4) arranged on the rack (5) and a double-acting hydraulic oil cylinder (3);
the crawler chassis (2) comprises a drive axle (6), a transmission shaft (7), a power unit (8), a floor (9), a crawler (10), a guiding tension wheel (11), a loading wheel (12), a driving wheel (13), a chassis frame (14) and a power distribution box (15); the floor (9) is welded on a chassis frame (14), the power distribution box (15) is connected to the side face of the rear end of the floor (9) through bolts, one end of a drive axle (6) is installed on the power distribution box (15) on one side, the other end of the drive axle (6) is installed on the power distribution box (15) on the other side, the drive axle (6) is installed on the floor (9) of the chassis frame (14) through bolts, one end of a transmission shaft (7) is connected with a power output flange disc of a power unit (8) through bolts, the other end of the transmission shaft (7) is connected with a power input flange disc of the drive axle (6) through bolts, and the power unit (8) is installed on the chassis frame (14) through a vibration reduction block; the guide tensioning wheel (11) is arranged on a tensioning wheel supporting shaft at the front end of the chassis frame (14), the two loading wheels (12) are arranged on a tensioning wheel supporting shaft at the middle part of the chassis frame (14), the driving wheel (13) is arranged on a driving wheel supporting shaft of the power distribution box (15), the crawler belt (10) is arranged on the guide tensioning wheel (11), the loading wheels (12) and the driving wheel (13), and the driving wheel (13) drives the crawler belt (10) to transmit;
the probe assembly (4) comprises a plurality of groups of probe units, the plurality of groups of probe units are arranged in an array, each group of probe units comprises a connecting plate (20), a pressure sensor (21) and a probe (22), one end of the pressure sensor (21) is connected with the connecting plate (20) through a bolt, the other end of the pressure sensor (21) is connected with one end of the probe (22) through a bolt, the connecting plate (20) is installed on an upper longitudinal beam (19) of the rack (5), and the other end of the probe (22) penetrates through a guide hole of a lower longitudinal beam (17) of the rack (5);
the ultrasonic sensor (18) is arranged on the frame (5), and the attitude sensor is arranged on the connecting plate (20);
the measuring method of the paddy field bearing capacity measuring device comprises the following steps:
1) setting a measurement task, planning an operation route, and moving a measurement device to a measurement position in a field;
2) after the measuring device is stable, the double-acting hydraulic oil cylinder (3) is controlled to push the measuring rack (5) to drive the probe (4) to go deep into the soil, when the probe contacts a hard bottom layer or the double-acting hydraulic oil cylinder (3) reaches the maximum stroke value, the recording is finished, the electronic acquisition control cabin (1) simultaneously acquires pressure change data of each pressure sensor, distance change data of the ultrasonic sensor and attitude change data of the attitude sensor, after the measurement is finished, an extension rod of the double-acting hydraulic oil cylinder (3) is controlled to shrink through the hydraulic reversing valve, the probe is pulled out of the soil, and after the probe is completely pulled out;
3) processing the acquired data to obtain a bearing capacity-depth data relation, issuing corresponding parameters according to the site and conditions of the operating paddy field tractor, and distributing power of the paddy field tractor to realize anti-skid effect improvement;
in the step 3), firstly, the acquired distance data of the ultrasonic sensor is predicted, and a distance value close to an actual situation is obtained by combining attitude data of the attitude sensor, and the specific process is as follows:
because the adjacent measurement before and after has independence in time, only the distance data of the previous moment is needed to be used for calculating the whole system model, so the state equation and the measurement equation of the system model are as follows:
sk＝Ask-1+wk-1 (1)
in the formula: skIs a predicted value of the system model at time k, sk-1Is the analysis value of the system model at the time k-1, A is the transfer matrix of the system model, wk-1To observe noise;
ck＝Hsk+vk (2)
in the formula: c. CkIs the measured value of the system model at the time k, H is the measurement matrix of the system model, vkTo measure noise, assume wk-1And vkIs Gaussian white noise which does not influence each other and has zero variance and Q and R respectively;
by means of a given initial value, covariance update and state update at the moment k +1 are obtained by adopting a forward parameter recursion method, the method comprises two steps of forecasting and updating, and the forecasting stage is divided into three steps:
(1) and (3) state prediction:
s(k+1|k)＝A·s(k|k) (3)
(2) and (3) covariance prediction:
p(k+1|k)＝A·p(k|k)·AT+Q (4)
(3) and calculating a Kalman filtering gain coefficient K:
K(k+1)＝p(k+1|k)·H(k+1)T·(H·(k+1|k)·HT+R)-1 (5)
the updating stage is divided into two steps:
(1) and (3) covariance updating:
p(k+1|k+1)＝(1-K(k+1)·H)p(k+1|k)-1 (6)
(2) and (3) updating the state:
s(k+1|k+1)＝s(k+1|k)+K(k+1)·(c(k+1)-H·s(k+1|k)) (7)
the distance data after the Kalman filtering algorithm is adopted is more in line with the real situation.
2. The paddy field bearing capacity measuring device according to claim 1, characterized in that: the hydraulic rod of the double-acting hydraulic oil cylinder (3) is hinged on a cross beam (16) of the frame (5), and the hydraulic cylinder of the double-acting hydraulic oil cylinder (3) is hinged on the lower part of a floor (9) of the crawler chassis (2).
3. The paddy field bearing capacity measuring device according to claim 1, characterized in that: still including installing electron collection control storehouse (1) on crawler chassis (2), pressure sensor (21), ultrasonic sensor (18) and attitude sensor all with electron collection control storehouse (1) electricity links.
4. The paddy field bearing capacity measuring device according to claim 1, characterized in that: a plurality of uniformly distributed guide holes are formed in the lower longitudinal beam (17) of the rack (5).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH01218503A (en) * | 1988-02-25 | 1989-08-31 | Iseki & Co Ltd | Draft controlling apparatus for ground-working machine |
| CN203100718U (en) * | 2013-01-28 | 2013-07-31 | 吉林大学 | Agricultural machinery and implement tilling depth real time monitoring system |
| GB2510630B (en) * | 2013-02-11 | 2015-08-05 | Kverneland Group Les Landes Genusson | Strip tilling system |
| CN203740004U (en) * | 2014-02-10 | 2014-07-30 | 张洪岩 | Crawler-type multifunctional paddy field work vehicle |
| CN104782259A (en) * | 2014-12-29 | 2015-07-22 | 江苏大学 | Tractor operating depth resistance-position adjusting electric control device and method |
| CN106892009A (en) * | 2017-02-13 | 2017-06-27 | 黄伟 | A kind of unmanned full-hydraulic multifunctional tractor of Beidou navigation and its control method |
| CN107719493A (en) * | 2017-11-10 | 2018-02-23 | 洛阳中科龙网创新科技有限公司 | A kind of crawler-type unmanned ploughs machine |
| CN108037663A (en) * | 2017-12-07 | 2018-05-15 | 电子科技大学 | A kind of maneuvering target tracking method based on change dimension filtering algorithm |
| CN108253880A (en) * | 2017-12-26 | 2018-07-06 | 河南科技大学 | Probe-type tilling depth measuring device, the measuring method of tilling depth, the detection method for quality of deep ploughing |
| CN108738444B (en) * | 2018-03-01 | 2021-10-08 | 洛阳中科龙网创新科技有限公司 | Deep learning system-based tractor farming method |
| CN108263502A (en) * | 2018-03-28 | 2018-07-10 | 黑龙江重兴机械设备有限公司 | A kind of rubber half-track tractor |
| CN109691263A (en) * | 2019-02-20 | 2019-04-30 | 雷沃重工股份有限公司 | A kind of automatic tilling depth control method and device of agricultural machinery and implement |
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